RI: Small: Physical Interaction with Dynamically Stable Mobile Robots

该项目研究了三个重要领域，突出了在家庭和工作场所帮助人类的物理人-机器人交互：(1)使用物理接触在杂乱的环境中引导人类，(2)在复杂和动态的环境中协作携带大型物体，以及(3)机器人辅助坐和起床。这是通过将一个实验性的单轮移动平台演变为一个由人以自然方式指导和引导的自主机器人来实现的。这样的系统在许多公共卫生领域都是需要的，包括照顾老年人、康复和辅助项目。项目成果被合并到CMU两个不同系提供的课程中，并向学生展示独特的机器人规划、控制和人-机器人交互问题。作为安德鲁·利普项目的一部分，高中生将被介绍到这个领域。来自代表性不足群体的学生通过ARTSI计划参与。结果可能会与博物馆或娱乐公司合作展示。

The project studies three important domains which highlight physical Human-Robot Interaction involved in assisting humans in the home and workplace: (1) human guidance through cluttered environments using physical contact, (2) cooperative carrying of large objects through complex and dynamic environments, and (3) robot assisted sitting and getting up. This is accomplished through the evolution of an experimental single-wheel mobility platform into an autonomous robot that is instructed and guided by people in a natural way.Such systems are needed in many public health domains, including care for the elderly, rehabilitation and assistive programs. Project results are incorporated into coursework offered by two different departments at CMU, and exposes students to unique robot planning, control and Human-Robot Interaction issues. High school students are introduced to this area as part of the Andrew Leap program. Students from underrepresented groups participate through the ARTSI program. Results may be presented in cooperation with museums or entertainment companies.